Smart sensor scheduler

ABSTRACT

A system includes an image sensor having a plurality of pixels that form a plurality of regions of interest (ROIs), image processing resources, and a scheduler configured to perform operations including determining a priority level for a particular ROI of the plurality of ROIs based on a feature detected by one or more image processing resources of the image processing resources within initial image data associated with the particular ROI. The operations also include selecting, based on the feature detected within the initial image data, a particular image processing resource of the image processing resources by which subsequent image data generated by the particular ROI is to be processed. The operations further include inserting, based on the priority level, the subsequent image data into a processing queue of the particular image processing resource to schedule the subsequent image data for processing by the particular image processing resource.

BACKGROUND

An image sensor includes a plurality of light-sensing pixels thatmeasure an intensity of light incident thereon and thereby collectivelycapture an image of an environment. A Bayer filter may be applied to theimage sensor to allow the image sensor to generate color images of theenvironment. Image sensors may be used in a plurality of applicationssuch as photography, robotics, and autonomous vehicles.

SUMMARY

The pixels of an image sensor may form a plurality of regions ofinterest (ROIs). The image sensor may be configured to generatefull-resolution image data that includes each of these ROIs, or ROIimage data that includes a subset of the ROIs. As the environment of theimage sensor changes over time, ROIs that contain therein features ofinterest may generate more image data than others. To avoidoversubscription of some image processing resources used by the imagesensor for processing these ROI images, a scheduler may be provided onthe image sensor. The scheduler may be configured to distribute the ROIimages among the image processing resources. Based on the content of theROI images, the scheduler may select a priority level for the ROI imageand an image processing resource by which the ROI image is to beprocessed. The scheduler may then insert the ROI image into a processingqueue of the selected resource to scheduler processing of the ROI image.The scheduler may be configured to distribute the ROI images among theprocessing resources based on a desired latency, throughput, orutilization, among other objectives.

In a first example embodiment, a system is provided that includes animage sensor having a plurality of pixels that form a plurality of ROIs,a plurality of image processing resources, and a scheduler configured toperform operations. The operations include determining a priority levelfor a particular ROI of the plurality of ROIs based on a featuredetected by one or more image processing resources of the plurality ofimage processing resources within initial image data associated with theparticular ROI. The operations also include selecting, based on thefeature detected within the initial image data, a particular imageprocessing resource of the plurality of image processing resources bywhich subsequent image data generated by the particular ROI is to beprocessed. The operations further include inserting, based on thepriority level of the particular ROI, the subsequent image data into aprocessing queue of the particular image processing resource to schedulethe subsequent image data for processing by the particular imageprocessing resource.

In a second example embodiment, a method is provided that includesdetermining, by a scheduler, a priority level for a particular ROI of aplurality of ROIs formed by a plurality of pixels of an image sensor.The priority level is determined based on a feature detected by one ormore image processing resources of a plurality of image processingresources within initial image data associated with the particular ROI.The method also includes selecting, by the scheduler and based on thefeature detected within the initial image data, a particular imageprocessing resource of the plurality of image processing resources bywhich subsequent image data generated by the particular ROI is to beprocessed. The method further includes inserting, by the scheduler andbased on the priority level of the particular ROI, the subsequent imagedata into a processing queue of the particular image processing resourceto schedule the subsequent image data for processing by the particularimage processing resource.

In a third example embodiment a non-transitory computer readable storagemedium is provided having stored thereon instructions that, whenexecuted by a computing device, cause the computing device to performoperations. The operations include determining a priority level for aparticular ROI of a plurality of ROIs formed by a plurality of pixels ofan image sensor. The priority level is determined based on a featuredetected by one or more image processing resources of a plurality ofimage processing resources within initial image data associated with theparticular ROI. The operations also include selecting, based on thefeature detected within the initial image data, a particular imageprocessing resource of the plurality of image processing resources bywhich subsequent image data generated by the particular ROI is to beprocessed. The operations further include inserting, based on thepriority level of the particular ROI, the subsequent image data into aprocessing queue of the particular image processing resource to schedulethe subsequent image data for processing by the particular imageprocessing resource.

In a fourth example embodiment, a system is provided that includes meansfor determining a priority level for a particular ROI of a plurality ofROIs formed by a plurality of pixels of an image sensor. The prioritylevel is determined based on a feature detected by one or more imageprocessing resources of a plurality of image processing resources withininitial image data associated with the particular ROI. The system alsoincludes means for selecting, based on the feature detected within theinitial image data, a particular image processing resource of theplurality of image processing resources by which subsequent image datagenerated by the particular ROI is to be processed. The system furtherincludes means for inserting, based on the priority level of theparticular ROI, the subsequent image data into a processing queue of theparticular image processing resource to schedule the subsequent imagedata for processing by the particular image processing resource.

These, as well as other embodiments, aspects, advantages, andalternatives, will become apparent to those of ordinary skill in the artby reading the following detailed description, with reference whereappropriate to the accompanying drawings. Further, this summary andother descriptions and figures provided herein are intended toillustrate embodiments by way of example only and, as such, thatnumerous variations are possible. For instance, structural elements andprocess steps can be rearranged, combined, distributed, eliminated, orotherwise changed, while remaining within the scope of the embodimentsas claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a block diagram of an image sensor with threeintegrated circuit layers, in accordance with example embodiments.

FIG. 2 illustrates an arrangement of regions of interest, in accordancewith example embodiments.

FIG. 3A illustrates an image sensor and a scheduler, in accordance withexample embodiments.

FIG. 3B illustrates image processing queues, in accordance with exampleembodiments.

FIG. 4 illustrates a priority policy, in accordance with exampleembodiments.

FIG. 5 illustrates interconnections between image processing resources,in accordance with example embodiments.

FIG. 6 illustrates image processing queues, in accordance with exampleembodiments.

FIG. 7 illustrates a flow chart, in accordance with example embodiments.

DETAILED DESCRIPTION

Example methods, devices, and systems are described herein. It should beunderstood that the words “example” and “exemplary” are used herein tomean “serving as an example, instance, or illustration.” Any embodimentor feature described herein as being an “example,” “exemplary,” and/or“illustrative” is not necessarily to be construed as preferred oradvantageous over other embodiments or features unless stated as such.Thus, other embodiments can be utilized and other changes can be madewithout departing from the scope of the subject matter presented herein.

Accordingly, the example embodiments described herein are not meant tobe limiting. It will be readily understood that the aspects of thepresent disclosure, as generally described herein, and illustrated inthe figures, can be arranged, substituted, combined, separated, anddesigned in a wide variety of different configurations.

Further, unless context suggests otherwise, the features illustrated ineach of the figures may be used in combination with one another. Thus,the figures should be generally viewed as component aspects of one ormore overall embodiments, with the understanding that not allillustrated features are necessary for each embodiment.

Additionally, any enumeration of elements, blocks, or steps in thisspecification or the claims is for purposes of clarity. Thus, suchenumeration should not be interpreted to require or imply that theseelements, blocks, or steps adhere to a particular arrangement or arecarried out in a particular order. Unless otherwise noted, figures arenot drawn to scale.

I. Overview

Sensors may be provided on an autonomous vehicle to assist withperception of and navigation through various environments. These sensorsmay include image sensors, light detection and ranging (LIDAR) devices,and/or radio detection and ranging (RADAR) devices, among others. Thesesensors may be capable of generating more data than can be timelyprocessed by processing resources provided by the sensors and/or by theautonomous vehicle. This may be the case, for example, when a largenumber of sensors is provided on the vehicle and/or when the resolutionof each sensor is high, resulting in generation of a large amount ofsensor data. Additionally, desired data transfer latency and/or theamount of data transfer bandwidth available on the sensor and/or theautonomous vehicle may limit the amount of sensor data that can beutilized.

Accordingly, sensing components and corresponding circuitry may beprovided that divide a field of view of the sensor into a plurality ofregions of interest (ROIs) and allow for selective readout of sensordata from individual ROIs. For example, in the case of an image sensor,the pixels of the image sensor may form a plurality of ROIs, each ofwhich may be read out independently of other ROIs. That is, the imagesensor may generate image data in some ROIs (e.g., those that containtherein some object of interest) while other ROIs (e.g., those that donot contain an object of interest) are not used to generate image data.These ROIs may allow the image sensor to accommodate high frame rateand/or high resolution imaging while at the same time reducing the totalamount of image data that is generated, analyzed, and/or transmitted.

ROI images and full-resolution images may be processed by a plurality ofimage processing resources to detect in these images features that areuseful in controlling the autonomous vehicle. The image processingresources may include pixel-level processing circuitry, neural networkcircuitry, control systems of the autonomous vehicle, and/orcommunicative connections between subsets of the plurality of imageprocessing resources. Some of the image processing resources may beincluded as part of the circuitry and/or packaging of the image sensor,while others may be provided as part of the circuitry and/or packagingof other components of the autonomous vehicle (e.g., the controlsystem).

The pixel-level processing circuitry may be configured to performpixel-level processing, such as analog-to-digital conversion,demosaicing, high dynamic range fusion, and image sharpening, amongother operations. The neural network circuitry may be configured toprocess output of the pixel-level processing circuitry to extracthigher-order features and/or semantic information from the capturedimages. The neural network circuitry may also be configured to detectobjects of interest within the image data based on the features and/orsemantic information. Control systems of the vehicle may be configuredto control the vehicle based on outputs of the pixel-level processingcircuitry and/or the neural network circuitry, among other information.Communicative connections between these processing resources may allowfor sharing of data, coordination, and cooperation between theprocessing resources in operating the autonomous vehicle.

A scheduler may be provided to coordinate the operations of the imagesensor and the image processing resources. Specifically, the schedulermay be configured to schedule the processing of image data generated bythe sensor based on the availability of the image processing resources,the relative importance of the features represented by different ROIs,the task being performed by the vehicle, and/or the relationship betweenthe features and the task, among other considerations. For example, thescheduler may be configured to minimize the latency between obtaining agiven image data by the image sensor and processing the given image databy the plurality of image processing resources, maximize the utilizationof the plurality of image processing resources, and/or maximize thethroughput of image data through the plurality of image processingresources.

To that end, the scheduler may be configured to determine prioritylevels for different ROIs of the plurality of ROIs. The priority levelassigned to a particular ROI may be based on a feature detected by oneor more image processing resources within initial image data associatedwith the particular ROI. The initial image data may have been generatedby the particular ROI, and the detected feature may be expected to beviewable by the particular ROI at a future time. Alternatively, theinitial image data may have been generated by another ROI, and thedetected feature may be expected to be viewable by the particular ROI atthe future time. The priority level of a given ROI may change over timeas different features are present within that ROI.

Priority levels may be assigned by the scheduler according to apredetermined priority policy. The policy may associate each prioritylevel with corresponding combinations of features of interest, tasksbeing carried out by the vehicle, environmental conditions, relationshipbetween the features of interest and the tasks, and/or other contextualinformation. Thus, image processing operations that are more importantto the operation of the vehicle (e.g., pedestrian detection) may beprioritized relative to image processing operations that are lessimportant. The priority policy may be modifiable to allow for differentcombinations of features and operational contexts to be prioritized todifferent extents.

The scheduler may also be configured to select, based on the featuredetected within the initial image data, a particular image processingresource of the plurality of image processing resources by whichsubsequent image data generated by the particular ROI is to beprocessed. The particular image processing resource may be selectedbased on the availability of this and other image processing resources.For example, the system may include multiple instances of a particulartype of image processing resource. The scheduler may select an instancethat has a shortest processing queue or a processing queue containingtherein only lower priority tasks, among other considerations.

In one example, when the detected feature is a crosswalk, the particularimage processing resource may be a neural network configured to detectpedestrians. In another example, when the detected feature is a vehicle,the particular image processing resource may be a neural networkconfigured to continue to detect and/or track the vehicle. In a furtherexample, when the feature of interest is a final result of processing byone or more neural networks, the particular image processing resourcemay be a communicative connection between the one or more neuralnetworks and a control system of the vehicle. Allocation of thiscommunicative connection may allow the control system of the vehicle todetermine how to operate the vehicle based on this final result. As canbe seen from these examples, the image processing resource selected bythe scheduler may be the same as or different from the image processingresources that initially detected the feature of interest.

In some implementations, the set of image processing resources availableto process image data from a given ROI may be spatially constrained. Forexample, the image sensor and at least a portion of the image processingresources may be implemented as part of a multi-layer integratedcircuit. The image sensor may be defined on a first layer of theintegrated circuit, while the image processing resources may be definedon one or more additional layers of the integrated circuit. The pixelsof a particular ROI may be electrically connected to a subset, but notall, of the image processing resources. This subset of the imageprocessing resources may be spatially co-located with the ROI.

For example, the subset may include processing resources disposed abovethe ROI (i.e., in the same area of the integrated circuit as the ROI).In another example, the subset may include image processing resourcesdisposed above the ROI and any adjacent ROIs, but might not include theimage processing resources disposed above non-adjacent ROIs. Thus, thescheduler may be configured to select the image processing resources fora particular ROI from the subset available for that particular ROI. Theimage processing resources may be interconnected with one another in asimilarly spatially-constrained fashion. For example, pixel-levelprocessing circuitry located above a given ROI may be interconnected toneural network circuitry located above the given ROI, but not neuralnetwork circuitry located above other ROIs. In other implementations,each ROI may be processed by any available image processing resourcewithout any spatial constraints.

The scheduler may be further configured to insert the subsequent imagedata into a processing queue of the particular image processingresource. A position in the processing queue at which the subsequentimage data is inserted may be based on the priority level of theparticular ROI. This insertion into the queue may schedule thesubsequent image data for processing by the particular image processingresource. For example, image data with a high priority may be insertedinto the processing queue such that it precedes any image data with alower priority and follows any image data with a higher priority. Thus,image data may be processed in an order that reflects its importance inoperating the autonomous vehicle.

When multiple image data have the same or similar priority, theprocessing order may be determined according to policy, such as afirst-in-first-out (FIFO) policy, a last-in-first-out (LIFO) policy, ashortest-job-first (SJF) policy, or a round robin (RR) policy, amongother possibilities. Further, image data may be assigned an expirationtime. Expired image data may be dropped from the processing queue, thusallowing the image processing resources to avoid processing image datathat no longer accurately represents the current environment of thevehicle.

The scheduler may also be configured to consider dependencies amongdifferent image processing resources. For example, when neural networkcircuitry is scheduled to operate on an intermediate result generated bypixel-level processing circuitry, the intermediate result may beinserted into the processing queue of the neural network circuitry at aposition that allows sufficient time for the intermediate result to begenerated. Thus, the position of the intermediate result in theprocessing queue of the neural network circuitry may depend on aposition of the initial image data in a processing queue of thepixel-level processing circuitry that generated the intermediate result.

II. Example Smart Sensor

FIG. 1 is a block diagram of an example image sensor 100 with threeintegrated circuit layers. Image sensor 100 may use the three integratedcircuit layers to detect objects. For example, image sensor 100 maycapture an image that includes a person and output an indication of“person detected.” In another example, image sensor 100 may capture animage and output a portion of the image that includes a vehicle that wasdetected by image sensor 100.

The three integrated circuit layers includes a first integrated circuitlayer 110, a second integrated circuit layer 120, and a third integratedcircuit layer 130. First integrated circuit layer 110 is stacked onsecond integrated circuit layer 120, and second integrated circuit layer120 is stacked on third integrated circuit layer 130. First integratedcircuit layer 110 may be in electrical communication with secondintegrated circuit layer 120. For example, first integrated circuitlayer 110 and second integrated circuit layer 120 may be physicallyconnected to one another with interconnects. Second integrated circuitlayer 120 may be in electrical communication with third integratedcircuit layer 130. For example, second integrated circuit layer 120 andthird integrated circuit layer 130 may be physically connected to oneanother with interconnects.

First integrated circuit layer 110 may have a same area as secondintegrated circuit layer 120. For example, the length and width of firstintegrated circuit layer 110 and second integrated circuit layer 120 maybe the same while the heights may be different. Third integrated circuitlayer 130 may have a larger area than first and second integratedcircuit layers 110, 120. For example, third integrated circuit layer 130may have a length and width that are both twenty percent greater thanthe length and the width of first and second integrated circuit layers110, 120.

First integrated circuit layer 110 may include an array of pixel sensorsthat are grouped by position into pixel sensor groups (each pixel sensorgroup referred to as “pixel group” in FIG. 1) 112A-112C (collectivelyreferred to by 112). For example, first integrated circuit layer 110 mayinclude a 6400×4800 array of pixel sensors grouped into three hundredtwenty by two hundred forty pixel sensor groups, where each pixel sensorgroup includes an array of 20×20 pixel sensors. Pixel sensor groups 112may be further grouped to define ROIs.

Each of pixel sensor groups 112 may include 2×2 pixel sensor sub-groups.For example, each of the pixel sensor groups of 20×20 pixel sensors mayinclude ten by ten pixel sensor sub-groups, where each pixel sensorsub-group includes a red pixel sensor in an upper left, a green pixelsensor in a lower right, a first clear pixel sensor in a lower left, anda second clear pixel sensor in an upper right, each sub-group alsoreferred to as Red-Clear-Clear-Green (RCCG) sub-groups.

In some implementations, the size of the pixel sensor groups may beselected to increase silicon utilization. For example, the size of thepixel sensor groups may be such that more of the silicon is covered bypixel sensor groups with the same pattern of pixel sensors.

Second integrated circuit layer 120 may include (pixel-level) imageprocessing circuitry groups (each image processing circuitry groupreferred to as “process group” in FIG. 1) 122A-122C (collectivelyreferred to by 122). For example, second integrated circuit layer 120may include three hundred twenty by two hundred forty image processingcircuitry groups. Image processing circuitry groups 122 may beconfigured to each receive pixel information from a corresponding pixelsensor group and further configured to perform image processingoperations on the pixel information to provide processed pixelinformation during operation of image sensor 100.

In some implementations, each image processing circuitry group 122 mayreceive pixel information from a single corresponding pixel sensor group112. For example, image processing circuitry group 122A may receivepixel information from pixel sensor group 112A and not from any otherpixel group, and image processing circuitry group 122B may receive pixelinformation from pixel sensor group 112B and not from any other pixelgroup.

In some implementations, each image processing circuitry group 122 mayreceive pixel information from multiple corresponding pixel sensorgroups 112. For example, image processing circuitry group 122A mayreceive pixel information from both pixel sensor groups 112A and 112Band no other pixel groups, and image processing circuitry group 122B mayreceive pixel information from pixel group 112C and another pixel group,and no other pixel groups.

Having image processing circuitry groups 122 receive pixel informationfrom corresponding pixel groups may result in fast transfer of the pixelinformation from first integrated circuit layer 110 to second layer 120as image processing circuitry groups 122 may physically be close to thecorresponding pixel sensor groups 112. The longer the distance overwhich information is transferred, the longer the transfer may take. Forexample, pixel sensor group 112A may be directly above image processingcircuitry group 122A and pixel sensor group 112A may not be directlyabove the image processing circuitry group 122C, so transferring pixelinformation from pixel sensor group 112A to the image processingcircuitry group 122A may be faster than transferring pixel informationfrom the pixel sensor group 112A to image processing circuitry group122C, if there were interconnects between pixel sensor group 112A andimage processing circuitry group 122C.

Image processing circuitry groups 122 may be configured to perform imageprocessing operations on pixel information that image processingcircuitry groups 122 receives from the pixel groups. For example, imageprocessing circuitry group 122A may perform high dynamic range fusion onpixel information from pixel sensor group 112A and image processingcircuitry group 122B may perform high dynamic range fusion on pixelinformation from pixel sensor group 112B. Other image processingoperations may include, for example, analog to digital signal conversionand demosaicing.

Having image processing circuitry groups 122 perform image processingoperations on pixel information from corresponding pixel sensor groups112 may enable image processing operations to be performed in adistributed fashion in parallel by image processing circuitry groups122. For example, image processing circuitry group 122A may performimage processing operations on pixel information from pixel sensor group112A at the same time as image processing circuitry group 122B performsimage processing operations on pixel information from pixel group 122B.

Third integrated circuit layer 130 may include neural network circuitrygroups 132A-132C (each neural network circuitry group referred to as “NNgroup” in FIG. 1) 132A-132C (collectively referred to by 132) and fullimage neural network circuitry 134. For example, third integratedcircuit layer 130 may include three hundred twenty by two hundred fortyneural network circuitry groups.

Neural network circuitry groups 132 may be configured to each receiveprocessed pixel information from a corresponding image processingcircuitry group and further configured to perform analysis for objectdetection on the processed pixel information during operation of imagesensor 100. In some implementations, neural network circuitry groups 132may each implement a convolutional neural network (CNN).

In some implementations, each neural network circuitry group 132 mayreceive processed pixel information from a single corresponding imageprocessing circuitry group 122. For example, neural network circuitrygroup 132A may receive processed pixel information from image processingcircuitry group 122A and not from any other image processing circuitrygroup, and neural network circuitry group 132B may receive processedpixel information from image processing circuitry group 122B and notfrom any other image processing circuitry group.

In some implementations, each neural network circuitry group 132 mayreceive processed pixel information from multiple corresponding imageprocessing circuitry groups 122. For example, neural network circuitrygroup 132A may receive processed pixel information from both imageprocessing circuitry groups 122A and 122B and no other image processingcircuitry groups, and neural network circuitry group 132B may receiveprocessed pixel information from both image processing circuitry group122C and another pixel group, and no other pixel groups.

Having the neural network circuitry groups 132 receive processed pixelinformation from corresponding image processing circuitry groups mayresult in fast transfer of the processed pixel information from secondintegrated circuit layer 120 to third integrated circuit layer 130 asneural network circuitry groups 132 may physically be close to thecorresponding image processing circuitry groups 122. Again, the longerthe distance over which information is transferred, the longer thetransfer may take. For example, image processing circuitry group 122Amay be directly above neural network circuitry group 132A sotransferring processed pixel information from image processing circuitrygroup 122A to neural network circuitry group 132A may be faster thantransferring processed pixel information from image processing circuitrygroup 122A to neural network circuitry group 132C, if there wereinterconnects between image processing circuitry group 122A and neuralnetwork circuitry group 132C.

Neural network circuitry groups 132 may be configured to detect objectsfrom the processed pixel information that neural network circuitrygroups 132 receive from image processing circuitry groups 122. Forexample, neural network circuitry group 132A may detect objects from theprocessed pixel information from image processing circuitry group 122A,and neural network circuitry group 132B may detect objects from theprocessed pixel information from image processing circuitry group 122B.

Having neural network circuitry groups 132 detect objects from theprocessed pixel information from corresponding image processingcircuitry group 122 enables detection to be performed in a distributedfashion in parallel by each of neural network circuitry groups 132. Forexample, neural network circuitry group 132A may detect objects fromprocessed pixel information from image processing circuitry group 122Aat the same time as neural network circuitry group 132B may detectobjects from processed pixel information from image processing circuitrygroup 122B.

In some implementations, neural network circuitry groups 132 may performintermediate processing. Accordingly, image sensor 100 may use the threeintegrated circuit layers 110, 120, and 130 to perform some intermediateprocessing and output just an intermediate result. For example, imagesensor 100 may capture an image that includes a person and output anindication of “area of interest in some region of the image,” withoutclassifying the object of interest (the person). Other processing,performed outside image sensor 100 may classify the region of interestas a person.

Accordingly, the output from image sensor 100 may include some datarepresenting the output of some convolutional neural network. This datain itself may be hard to decipher, but once it continues to be processedoutside image sensor 100, the data may be used to classify the region asincluding a person. This hybrid approach may have an advantage ofreducing required bandwidth. Accordingly, output from neural networkcircuitry groups 132 may include one or more of selected regions ofinterest for pixels representing detections, metadata containingtemporal and geometrical location information, intermediatecomputational results prior to object detection, statistical informationregarding network certainty level, and classifications of detectedobjects.

In some implementations, neural network circuitry groups 132 may beconfigured to implement CNNs with high recall and low precisions. Neuralnetwork circuitry groups 132 may each output a list of objects detected,where the object was detected, and timing of detection of the object.

Full image neural network circuitry 134 may be configured to receive,from each of neural network circuitry groups 132, data that indicatesobjects that neural network circuitry groups 132 detected and detectobjects from the data. For example, neural network circuitry groups 132may be unable to detect objects that are captured by multiple pixelgroups, as each individual neural network circuitry group may onlyreceive a portion of processed pixel information corresponding to theobject. But, full image neural network circuitry 134 may receive datafrom multiple neural network circuitry groups 132 and may thus be ableto detect objects sensed by multiple pixel groups. In someimplementations, full image neural network circuitry 134 may implement arecurrent neural network (RNN). The neural networks may be configurable,both in regard to their architecture (number and type of layers,activation functions, etc.) as well as in regard to the actual values ofneural network components (e.g. weights, biases, etc.)

In some implementations, having image sensor 100 perform processing maysimplify a processing pipeline architecture, provide higher bandwidthand lower latency, allow for selective frame rate operations, reducecosts with the stacked architecture, provide higher system reliabilityas an integrated circuit may have fewer potential points of failure, andprovide significant cost and power savings on computational resources.

III. Example ROI Arrangement

FIG. 2 illustrates an example arrangement of ROIs on an image sensor.Namely, image sensor 200 may include pixels forming C columns and Rrows. Image sensor 200 may be analogous to image sensor 100. Thus, thepixels of image sensor 200 may correspond to first integrated circuitlayer 110. Image sensor may be divided into eight ROIs, including ROI 0,ROI 1, ROI 2, ROI 3, ROI 4, ROI 5, ROI 6, and ROI 7 (i.e., ROIs 0-7),each of which comprises m columns of pixels and n rows of pixels. Thus,C=2m and R=4n. In some implementations, each ROI may include thereinmultiple pixel groups 112. Alternatively, pixel groups 112 may be sizedand arranged such that each pixel group is also an ROI.

FIG. 2 illustrates the ROIs arranged into two columns, witheven-numbered ROIs on the left and odd-numbered ROIs on the right. Inother implementations, however, the ROIs and their numbering may bearranged in different ways. For example, ROIs 0-3 may be in the leftcolumn while ROIs 4-7 may be in the right column. In another example,the ROIs may divide image sensor 200 into 8 columns organized into asingle row, with the ROIs numbered from 0-7 arranged from left to rightalong the 8 columns of the single row. In some implementations, the ROIsmay be fixed in a given arrangement. Alternatively, the ROIs may bereconfigurable. Namely, the number of ROIs, position of each ROI, andthe shape of each ROI may be reconfigurable.

Image data may be read-out from a given ROI of ROIs 0-7 independently ofthe other ROIs. For example, image data may be acquired from ROI 0without also acquiring image data from the other ROIs. In anotherexample, ROI image data may be read out from two or more different ROIsin parallel (e.g., from ROI 2 and ROI 7). Image data generated by aunion of ROIs 0-7 may be referred to as a full-resolution image, whileimage data that includes a subset of ROIs 0-7 may be referred to as anROI image.

Image sensor 200 may include a combination of analog-to-digitalconverters (ADCs), multiplexers, and read-out transistors that allowsfor independent readout of each of ROIs 0-7. ROI image data may be readout from a given ROI column by column or row by row, depending on thearrangement of the read-out circuitry. For example, when ROI 2 is to beread out, read-out circuitry may be reassigned from ROIs 0, 4, and 6 toread out 4 columns of ROI 2 in parallel. In another example, read-outcircuitry may be reassigned from ROIs 0, 1, and 3-7 to ROI 2 to read out8 columns of ROI 2 in parallel. Thus, the rate at which a given ROI maybe read-out may depend on the amount of image read-out circuitry that isreassignable to between the ROIs.

The full-resolution image and/or one or more ROI images may be used toselect one or more ROIs from which ROI images are to be acquired. Forexample, the full-resolution images may be analyzed to detect therein anobject of interest. An ROI that contains or is expected to contain theobject of interest may be selected to be used to generate a plurality ofROI images for further analysis. An object may be considered to be ofinterest based on, for example, a speed of the object (e.g., when thisspeed exceeds a threshold speed or is below the threshold speed) adistance between image sensor 100 and the object (e.g., when thisdistance exceeds a threshold distance is below the threshold distance),and/or a classification of the object, among other possibilities.

In some implementations, selection of the ROI may be performed by thirdintegrated circuit layer 130 of image sensor 100. For example, fullimage NN circuitry 134 may be used to select the ROI. In otherimplementations, the ROI may be selected by a control system (e.g., acontrol system of an autonomous vehicle) that is communicativelyconnected to and operates based on the outputs of image sensor 100. Oncea particular ROI is selected, the particular ROI may be used to acquirea plurality of ROI images.

IV. Example Scheduler Architecture

FIG. 3A illustrates an example architecture of a scheduler for imagesensor 200. Specifically, image sensor 200 may include scheduler 302,pixel groups 310 and 312 through 314 (i.e., pixel groups 310-314)defining ROIs 0-7, respectively, and a plurality of image processingresources. The image processing resources include pixel-level processingcircuitry 320, 322, and 324 through 330 (i.e., pixel-level processingcircuitry 320-330), machine learning circuitry 340, 342, and 344 through350 (i.e., machine learning circuitry 340-350), and communicativeconnections 316, 332, and 352. Image sensor 200 may be configured toprovide image data to control system 360, which may also be considered apart of the image processing resources. Control system 360 may representa combination of hardware and software configured to generate operationsfor a robotic device or an autonomous vehicle, among otherpossibilities.

Pixel groups 310-314 represent groupings of the pixels that make upimage sensor 200. In some implementations, each of pixel groups 310-314may correspond to one or more of pixel sensor groups 112. Pixel groups310-314 may represent circuitry disposed in first integrated circuitlayer 110. The number of pixel sensor groups represented by each ofpixel groups 310-314 may depend on the size of each of ROIs 0-7. Inimplementations where the number, size, and/or shape of ROIs arereconfigurable, the subset of pixel sensor groups 112 making up each ofpixel groups 310-314 may vary over time based on the number, size,and/or shape of the ROIs.

Pixel-level processing circuitry 320-330 represent circuitry configuredto perform pixel-level image processing operations. Pixel-levelprocessing circuitry 320-330 may operate on outputs generated by pixelgroups 310-314. The pixel-level operations may include analog-to-digitalconversion, demosaicing, high dynamic range fusion, image sharpening,filtering, edge detection, and/or thresholding. Pixel-level operationsmay also include other types of operations that are not carried out byway of machine learning models (e.g., neural networks) provided on imagesensor 200 or by control system 360. In some implementations, each ofpixel-level processing circuitry 320-330 may include one or more ofprocess groups 122, among other circuitry configured to performpixel-level image processing operations. Thus, pixel-level circuitry320-330 may represent circuitry disposed in second integrated circuitlayer 120.

Machine learning circuitry 340-350 may include circuitry configured toexecute operations associated with one or more machine learning models.Machine learning circuitry 340-350 may operate on outputs generated bypixel groups 310-314 and/or pixel-level processing circuitry 320-330. Insome implementations, each of machine learning circuitry 340-350 maycorrespond to one or more of neural network groups 132 and/or full imageneural network circuitry 132, among other circuitry that implementsmachine learning models. Thus, machine learning circuitry 340-350 mayrepresent circuitry disposed in third integrated circuit layer 130.

Communicative connections 316 may represent electrical interconnectionsbetween pixel-level processing circuitry 320-330 and pixel groups310-314. Similarly, communicative connections 332 may representelectrical interconnections between (i) machine learning circuitry340-350 and (ii) pixel-level processing circuitry 320-330 and/or pixelgroups 310-314. Further, communicative connections 352 may representelectrical interconnections between machine learning circuitry 340-350and control system 360. Communicative connections 316, 332, and 352 maybe considered a subset of the image processing resources at leastbecause these connections (i) facilitate the transfer of data betweencircuitry configured to process the image data and (ii) may be modifiedover time to transfer data between different combinations of thecircuitry configured to process the image data.

In some implementations, communicative connections 316 may representelectrical interconnections between first integrated circuit layer 110and second integrated circuit layer 120, and communicative connections332 may represent electrical interconnections between second integratedcircuit layer 120 and third integrated circuit layer 130. Communicativeconnections 352 may represent electrical interconnections between thirdintegrated circuit layer 130 and one or more circuit boards by way ofwhich image sensor 200 is connected to control system 360. Each ofcommunicative connections 316, 332, and 352 may be associated with acorresponding maximum bandwidth.

Because image sensor 200 is divided into a plurality of ROIs which maygenerate ROI image data in an asymmetric fashion, some of pixel groups310-314 may generate more image data than others. The amount of imagedata generated by a given pixel group may fluctuate over time dependingon the features or objects represented by this image data. Accordingly,some portions of pixel-level processing circuitry 320-330 and/or machinelearning circuitry 340-350 might be oversubscribed by being requested toprocess more of the ROI image data than is requested of other portions.Without a scheduler, this may result in a bottleneck that limits therate at which ROI image data can be generated and processed.

For example, if pixel-level processing circuitry 320 and machinelearning circuitry 340, along with the electrical interconnectionstherebetween, were the only image processing resources configured toprocess image data from pixel group 310, the rate at which ROI imagesare generated from ROI 0 might be limited by the throughput of circuitry320, 340, and/or the interconnections therebetween. Further, during aperiod of time when ROI images are being acquired from ROI 0, but notfrom the other ROIs, circuitry 322-330 and 342-350, as well as theinterconnections therebetween, might be idle. In such a fixed assignmentof circuitry, approximately 87.5% of the circuitry of image sensor 200might be idle while ROI image data is being acquired from a single ROI.Thus, such a fixed assignment may be inefficient in terms of utilizationof the available circuitry, image data processing throughput, andexpended energy (e.g., wasted energy when circuitry is idle).

Accordingly, rather than relying on fixed interconnections between ROIsand image processing resources, scheduler 302 may be configured todynamically distribute the generated image data for processing amongimage processing resources 316, 320-330, 340-350, 332, 352, and/or 360(i.e., image processing resources 316-360) available to image sensor200. Specifically, the distribution of image data among image processingresources 316-360 may be performed according to priority policy 304, anexample of which is illustrated in and discussed with respect to FIG. 4.Priority policy 304 may define priority levels for various combinationsof image features, vehicle tasks, vehicle operating conditions, andother contextual information. Thus, priority policy 304 may, at least inpart, indicate how to prioritize the processing of different ROIs.

Scheduler 302 may be communicatively connected to each of imageprocessing resources 316-360, and may be aware of (e.g., may receive,access, and/or store a representation of) the capabilities of, workloadsassigned to, and/or features detected by each of image processingresources 316-360. Thus, in some implementations, scheduler 302 may beconfigured to distribute image data among image processing resources316-360 in a manner that improves or minimizes a latency betweenobtaining and processing image data, improves or maximizes a utilizationof image processing resources 316-360, and/or improves or maximizes athroughput of image data through image processing resources 316-360.These objectives may be quantified by one or more objective functions,each of which may be minimized or maximized (e.g., globally or locally)to achieve the corresponding objective.

V. Example Processing Queues

FIG. 3B illustrates example processing queues of a plurality of imageprocessing resources. Scheduler 302 may be configured to schedule ROIimage data generated by a particular ROI for processing by an imageprocessing resource by adding the ROI image data to a processing queueof the image processing resource. Accordingly, FIG. 3B illustratesprocessing queue 362 of pixel-level processing circuitry 320, processingqueue 364 of pixel level processing circuitry 322, and processing queue364 of machine learning circuitry 350. Each of pixel-level processingcircuitries 324-330, machine learning circuitries 340-344, and/orcontrol system 360 may also be associated with corresponding queues,which are not shown, but are indicated by the ellipses in FIG. 3B.Processing queues (“queues,” for short) 362-366 may be implemented asstorage buffers, each of which may be co-located with its correspondingprocessing circuitry on image sensor 200. In other implementations,queues 362-366 may be maintained by scheduler 302, rather than by thecorresponding circuitry.

FIG. 3B also illustrates detected feature queue 370 configured to storedata representing features that have been detected within correspondingROIs by the image processing circuitry. Specifically, detected featurequeue may be maintained and/or stored by scheduler 302 or anothercomponent of image sensor 200. When a particular image processingresource (e.g., machine learning circuitry 350) detects a feature ofinterest within image data captured by a particular ROI, informationregarding this detection and the corresponding ROI may be added to therear of detected feature queue 370. In the example illustrated in FIG.3B, detected feature queue 370 includes information regarding featuresdetected in ROIs 5 (at the front of queue 370), 0, 7, 2, 1, 4, and 6 (atthe rear of queue 370).

The processing queue in which scheduler 302 places the image dataacquired from a particular ROI, and the position of this image datawithin the queue, may depend on the current and/or expected contents ofthe ROI image data. Thus, detected feature queue 370 may include, for aparticular detected feature, data identifying (i) the ROI in which thefeature was detected, (ii) the feature (e.g., the classification, type,of other indicator thereof) that was detected within the ROI, (iii)attributes, properties, and/or characteristics of the detected feature(e.g., distance, speed, etc.), and/or (iv) a time at which initial imagedata, within which the feature was detected, was captured, among otherinformation. Accordingly, based on this data, scheduler 302 may beconfigured to determine a corresponding ROI in which the detectedfeature is expected to be observed at a future time, assign a prioritylevel to the detected feature and/or the corresponding ROI, and selectan image processing resource by way of which subsequent image dataacquired from the corresponding ROI at the future time is to beprocessed.

Scheduler 302 may be configured to assign the priority level to thefeature based on the type and/or classification of the feature. Thisassignment of priority level may be facilitated by priority policy 304.Scheduler 302 may be configured to select the corresponding ROI in whichthe detected feature is expected to be observed at the future time basedon attributes of the detected feature (e.g., speed and directionrelative to a vehicle on which sensor 200 is mounted). Scheduler 302 maybe configured to select the image processing resource for the subsequentimage data based on the type and/or classification of the feature. Forexample, the selected image processing resources may be configured tore-detect, within the subsequent image data, the previously-detectedfeature, or detect other features commonly associated with this detectedfeature (e.g., detect traffic lights within the subsequent image data onthe basis of detecting a cross-walk within the initial image data).

Scheduler 302 may schedule the image data associated with the ROIsindicated in queue 370 in, for example, a FIFO order. Specifically,scheduler 302 may start scheduling with ROI 5 and thereafter continuethrough ROIs 0, 7, 2, 1, 4, and 6. Each ROI indicated in queue 370 mayrepresent one or more ROI images, with the exact amount depending on,for example, the type of detected feature and the purpose for which thefeature is being detected and/or tracked. In some implementations,scheduler 302 may be configured to schedule multiple ROIs in parallel.In cases where multiple image processing resources are available forprocessing particular ROI image data, scheduler 302 may be configured toselect the image processing resource with the shortest queue. Forexample, if both circuitry 320 and 322 are available for processing theimage data associated with ROI 5, scheduler 302 may add ROI 5 to queue362 because it is shorter than queue 364.

In some implementations, scheduler 302 may be configured to always addthe ROI image data to the rear of the selected queue, regardless of thepriority assigned to the ROI image data. In other implementations, theposition at which the ROI image data is inserted into the queue maydepend on the priority level of the ROI image data. For example, the ROIimage data may be inserted such that it preceded any image data havinglower priorities and follows any image data having higher priorities.When, for example, scheduler 302 determines to insert ROI 5 into queue362 and ROI 5 has a higher priority than the already-scheduled ROI 7 anda lower priority than the already-scheduled ROI 1, ROI 5 may be insertedbetween these two already-scheduled ROIs. Thus, higher-priority ROIimage data may be allowed to skip in front of lower-priority image datain the queue, allowing image sensor 200 to detect high-priority featureswith low latency. Multiple ROI image frames that have the same prioritylevel may be scheduled for processing in a FIFO order, a LIFO order, aSJF order, a random order, or an RR order, among other possibilities.

VI. Example Scheduler Priority Policy

FIG. 4 illustrates an example of priority policy 304 that may be used byscheduler 302 to assign priorities to different detected features and/ortheir corresponding ROIs. For example, priority policy 304 may define aplurality of priority levels 400, ROI features 402, and maximumlatencies 404. In the example shown, priority policy includes 8different priority levels ranging from 1 to 8, with 1 representing thehighest priority and 8 representing the lowest priority.

Each of priority levels 400 may be associated with a corresponding setof ROI features 402. For example, priority level 1 may be associatedwith detection of humans in the path of the vehicle, priority level 2may be associated with detection of other vehicles and/or detection ofhumans to the sides of the vehicle. Priority level 3 may be associatedwith detection of traffic signs and signals, priority level 4 may beassociated with detection of road markings, and priority level 5 may beassociated with detection of vehicle localization features (e.g.,fiducial markers). Priority level 6 may be associated with detection offeatures behind the vehicle, priority level 7 may be associated withdetection of features beyond a threshold height above the vehicle, andpriority level 8 may be associated with an absence of any featuredetections.

Priority levels 1, 2, and 3 may be associated with a maximum latency of50 milliseconds between (i) generation of given ROI image data and (ii)completion of processing of the image data by a selected imageprocessing resource. Similarly, priority levels 4, 5, and 6 may beassociated with a maximum latency of 75 milliseconds, and prioritylevels 7 and 8 may be associated with a maximum latency of 200milliseconds. Scheduler 302 may be configured to assign image data forprocessing in a manner that allows the image data to be processed withinthe maximum latency time allowed for its assigned priority level. Thus,the image processing operations may be grouped into, for example,short-term, medium-term, and long-term operations depending on theassociated latency. In some implementations, scheduler 302 may beconfigured to associate an expiration time with each image data insertedinto a processing queue, thus allowing the image processing resource toomit processing of the image data if processing is not initiated and/orcompleted before the expiration time.

In practice, priority policy 304 may be more complicated than shown inFIG. 4. For example, each of priority levels 400 may be associated withone or more additional types of features, tasks being performed by thevehicle, other contextual information, and/or combinations thereof.Thus, a particular feature may be assigned a different prioritydepending on the operation being performed by the vehicle and/or theenvironmental conditions in which the vehicle is operating, among otherfactors. For example, when the vehicle is backing up, features behindthe vehicle may be assigned priority level 1, rather than priority level6. Further, the number of priority levels and the features, tasks,and/or operating conditions corresponding to each priority level may bemodified, thus allowing for performance of scheduler 302 to be adjustedand tuned to achieve desired results.

VII. Example Spatial Constraints

FIG. 5 illustrates an example implementation of image sensor 200 inwhich ROI image data may be configured to be processed by spatiallyco-located image processing resources. Image sensor 200 includes pixelgroups 310-314, pixel level processing circuitry 320-330, ROI neuralnetwork circuitry 500, 502, 504, 506, and 508 through 510 (i.e., ROIneural network circuitry 500-510), and full image neural networkcircuitry 512. Neural network circuitry 500-510 and 512 may correspondto machine learning circuitry 340-350 of FIG. 3A.

As the physical distance between a pixel group and the image processingcircuitry assigned thereto increases, it may take longer to transfer theimage data between these two components. Thus, the latency associatedwith the image processing may increase and throughput may decrease. Forexample, in implementations where pixel group 310 is interconnected witheach of pixel-level processing circuitry 320-330, the amount of timeallotted for data transfer may be sufficiently large to allow for datatransfer over the longest transmission path (e.g., corner to corneracross image sensor 200 from pixel group 310 to circuitry 330).

On the other hand, as the physical distance between two componentsdecreases, it may take less time to transfer the image data betweenthese two components, thus decreasing the latency and increasing thethroughput. Thus, if pixel group 310 is interconnected with a co-locatedsubset of pixel-level processing circuitry 320-330, the amount of timeallotted for data transfer may be reduced relative to the fullyinterconnected example.

Accordingly, in some implementations, scheduler 302 may be configured totake into account any spatial constraints between pixel groups and imageprocessing resources in scheduling the processing of image data.Additionally or alternatively, when multiple image processing resourcesare available for processing image data, scheduler 302 may prioritizeassigning the image data to an image processing resource that is closestto the ROI from which the image data originated. Further, inimplementations where each pixel group is interconnected with each ofpixel-level processing circuitry 320-330 (and each of pixel-levelprocessing circuitry 320-330 is, in turn, interconnected with the ROIneural network circuitries), scheduler 302 may simulate a spatialconstraint by scheduling a given pixel group for processing byco-located circuitry and avoiding scheduling the given pixel group bynon-co-located circuitry.

In general, circuitry may be considered to be co-located with a pixelgroup when the circuitry is disposed within a threshold distance of thepixel group and/or when data can be transmitted therebetween in under athreshold period of time.

In the embodiment illustrated in FIG. 5, pixel group 310 may be disposedin the same portion of image sensor 200 (i.e., in the same area but in adifferent layer) as pixel-level processing circuitry 320 and 322 and ROIneural network circuitry 500 and 502, as indicated by the shared hatchedpattern thereof. Similarly, pixel group 312 may be may be disposed inthe same portion of image sensor 200 as pixel-level processing circuitry324 and 326 and ROI neural network circuitry 504 and 506, and pixelgroup 314 may be may be disposed in the same portion of image sensor 200as pixel-level processing circuitry 328 and 330 and ROI neural networkcircuitry 508 and 510. Thus, pixel groups 310-314 may be considered tobe co-located with any circuitry disposed in the same area of, but in adifferent layer, of image sensor 200.

Further, as illustrated in FIG. 2, ROIs 0 and 1 may be adjacent to oneanother, but not to ROI 7. Thus, pixel-level processing circuitry 324and 326 and ROI neural network circuitry 504 and 506 may also beadjacent to ROI 0, but not ROI 7. Accordingly, pixel-level processingcircuitry 320-322 and ROI neural network circuitry 500-506 may each beviewed as being co-located with each of pixel groups 310 and 312, butnot pixel group 314. Thus, these components are shown interconnectedwith one another in FIG. 5.

In some implementations, circuitry (not shown) disposed beneath thepixel group that defines ROI 2 may also be considered to be co-locatedwith pixel group 310, and circuitry disposed beneath the pixel groupthat defines ROI 3 may also be considered to be co-located with pixelgroup 312. In other implementations, pixel-level processing circuitry324 might be considered co-located with pixel group 310 (e.g., due tobeing directly adjacent thereto), while pixel-level processing circuitry326 might not be considered co-located with pixel group 310 (e.g., dueto not being directly adjacent thereto). Full image neural networkcircuitry 512 may be viewed as co-located with each of pixel groups310-314 in that it is configured to process full-resolution images(e.g., by aggregating the processing results from multiple ROIs).

Accordingly, the subset of circuitry 320-330 and 500-510 that isconsidered co-located with a given pixel group may vary. This subset maybe defined, at the time image sensor 200 is manufactured, by theformation of some, but not other, interconnections. Alternatively oradditionally, the subset may be defined dynamically by defining, forscheduler 302, the subset of image processing resources by which imagedata from a particular ROI may be processed. In either case, scheduler302 may be configured to enforce any hard-wired and/or programmedspatial constraints. Specifically, scheduler 302 may be configured toinsert the image data associated with a particular ROI into the queuesof image processing resources that are included in the co-located subsetof image processing resources, and avoid inserting this image data intothe queues of image processing resources that are not included in thesubset.

VIII. Example Dependency-Aware Scheduling

Scheduler 302 may also be configured to schedule the image data forprocessing in a dependency-aware manner. Specifically, FIG. 6illustrates scheduling dependencies that may be accounted for byscheduler 302. FIG. 6 illustrates pixel-level processing circuitry 320,ROI neural network circuitry 502, and full image neural networkcircuitry 512, each of which are associated with a corresponding one ofprocessing queues 362, 600, and 602, respectively.

In some cases, image data from a particular ROI may be processedsequentially by multiple image processing components. For example, asillustrated in FIG. 6, image data acquired from ROI 2 may first beprocessed by pixel-level processing circuitry 320 to generate anintermediate result. The intermediate result of pixel-level processingcircuitry 320 may then be provided to ROI neural network circuitry 502,which may use this intermediate result to detect higher-order imagefeatures. The output of ROI neural network circuitry 502 may then becombined with similar results associated with the other ROIs that makeup the full-resolution image and may be processed by full image neuralnetwork circuitry 512.

For example, pixel-level processing circuitry 320 may be configured togenerate an HDR image based on multiple ROI images from ROI 2. ROIneural network circuitry 502 may detect within the HDR image variousedges, curves, and other geometric features. Full image neural networkcircuitry may aggregate such features from multiple ROIs to detect oneor more objects of interest (e.g., pedestrians, vehicles, etc.).

Rather than waiting for the output of circuitry 320 to be generated andplaced in queue 370 before scheduling circuitry 502, and subsequentlywaiting for the output of circuitry 502 and placed in queue 370 beforescheduling circuitry 512, scheduler 302 may be configured to scheduleeach of circuitries 320, 502, and 512 as part of a single schedulingoperation. Further, in scheduling these circuitries, scheduler 302 maytake into account the processing time associated with each circuitry.Thus, as illustrated in FIG. 6, the image data associated with ROI 2 maybe placed at the front of queue 362. The intermediate result ofcircuitry 320 may be placed in queue 600 before the image dataassociated with ROI 0 and after ROI 1, thus allowing the intermediateresult to be generated before it is expected as input by circuitry 502.Similarly, the output of circuitry 502 may be placed in queue 602 afterthe image data associated with ROIs 0-7 making up full image 604, thusallowing the output of circuitry 502 to be generated before it isexpected as input by circuitry 512.

IX. Additional Example Operations

FIG. 7 illustrates a flow chart of operations related to scheduling ofimage data for processing by image processing resources. The operationsmay be carried out by image sensor 100, image sensor 200, and/orscheduler 302, among other possibilities. However, the operations canalso be carried out by other types of devices or device subsystems. Forexample, the process could be carried out by a server device, anautonomous vehicle, and/or a robotic device.

The embodiments of FIG. 7 may be simplified by the removal of any one ormore of the features shown therein. Further, these embodiments may becombined with features, aspects, and/or implementations of any of theprevious figures or otherwise described herein.

Block 700 may involve determining, by a scheduler, a priority level fora particular ROI of a plurality of ROIs formed by a plurality of pixelsof an image sensor. The priority level may be determined based on afeature detected by one or more image processing resources of aplurality of image processing resources within initial image dataassociated with the particular ROI.

Block 702 may involve selecting, by the scheduler and based on thefeature detected within the initial image data, a particular imageprocessing resource of the plurality of image processing resources bywhich subsequent image data generated by the particular ROI is to beprocessed.

Block 704 may involve inserting, by the scheduler and based on thepriority level of the particular ROI, the subsequent image data into aprocessing queue of the particular image processing resource to schedulethe subsequent image data for processing by the particular imageprocessing resource.

In some embodiments, the image sensor may include a first layer of anintegrated circuit, and the plurality of image processing resources mayinclude one or more additional layers of the integrated circuit. Imagedata generated by the particular ROI may be configured to be processedby a first subset of image processing resources of the plurality ofimage processing resources, and the first subset of image processingresources may be spatially co-located with the particular ROI on theintegrated circuit. Thus, selecting the particular image processingresource may include selecting the particular image processing resourcefrom the first subset of image processing resources.

In some embodiments, selecting the particular image processing resourcemay include selecting (i) a first image processing resource of theplurality of image processing resources by which the subsequent imagedata generated by the particular ROI is to be processed to generate anintermediate result and (ii) a second image processing resource of theplurality of image processing resources by which the intermediate resultis to be processed.

In some embodiments, inserting the subsequent image data into theprocessing queue of the particular image processing resource may includeinserting the subsequent image data into a first processing queue of thefirst image processing resource and, based on a position of thesubsequent data in the first processing queue, inserting theintermediate result into a second processing queue of the second imageprocessing resource such that the intermediate result is scheduled forprocessing by the second image processing resource after theintermediate result is generated by the first image processing resource.

In some embodiments, determining the priority level for the particularROI may include receiving, from the one or more image processingresources, an indication that the feature was detected within theinitial image data. The particular ROI may be determined based on asubset of the plurality of pixels from which the one or more imageprocessing resources obtained the initial image data.

In some embodiments, determining the priority level for the particularROI may include selecting the priority level from a plurality ofpriority levels based on the feature detected by one or more imageprocessing resources. Each respective priority level of the plurality ofpriority levels may be associated with at least one corresponding imagedata feature.

In some embodiments, the particular image processing resource may beselected further based on environmental conditions expected to bepresent at a time when the subsequent image data is generated.

In some embodiments, inserting the subsequent image data into theprocessing queue of the particular image processing resource may includedetermining an expiration time by which the subsequent image data is tobe processed by the particular image processing resource. The expirationtime may be associated with the subsequent image data in the processingqueue. The particular image processing resource may be configured toomit processing the subsequent image data after the expiration time.

In some embodiments, the initial image data may be generated by theparticular ROI, and determining the priority level for the particularROI may include determining that the feature detected by the one or moreimage processing resources within the initial image data generated bythe particular ROI is expected to remain within the particular ROI at atime when the subsequent image data is planned to be captured.

In some embodiments, the initial image data may be generated by a secondROI different from the particular ROI, and determining the prioritylevel for the particular ROI may include determining that the featuredetected by the one or more image processing resources within theinitial image data generated by the second ROI is expected to move fromthe second ROI to the particular ROI and be viewable by the particularROI at a time when the subsequent image data is planned to be captured.

In some embodiments, a vehicle may be configured to operate based onoutput of the plurality of image processing resources. The prioritylevel for the particular ROI may be determined further based on (i) atask being carried out by the vehicle and (ii) a relationship betweenthe task and the feature detected by the one or more image processingresources.

In some embodiments, the particular image processing resource may beselected further based on an amount of image data in the processingqueue of the particular image processing resource.

In some embodiments, the particular image processing resource may beselected further based on an at least one of: (i) a first objectivefunction that minimizes a latency between obtaining a given image databy the image sensor and processing the given image data by the pluralityof image processing resources, (ii) a second objective function thatmaximizes a utilization of the plurality of image processing resources,or (iii) a third objective function that maximizes a throughput of imagedata through the plurality of image processing resources.

In some embodiments, the plurality of image processing resources mayinclude one or more of: (i) pixel-level processing circuitry, (ii)neural network circuitry, (iii) a control system of an autonomousvehicle, or (iv) communicative connections between subsets of theplurality of image processing resources.

In some embodiments, the scheduler may be configured to determine todeactivate an additional ROI of the plurality of ROIs based on anadditional feature detected by one or more additional image processingresources of the plurality of image processing resources withinadditional image data associated with the additional ROI. Based on theadditional ROI, one or more further image processing resources of theplurality of image processing resources may be selected to bedeactivated. The one or more further image processing resources may bedeactivated.

X. Conclusion

The present disclosure is not to be limited in terms of the particularembodiments described in this application, which are intended asillustrations of various aspects. Many modifications and variations canbe made without departing from its scope, as will be apparent to thoseskilled in the art. Functionally equivalent methods and apparatuseswithin the scope of the disclosure, in addition to those describedherein, will be apparent to those skilled in the art from the foregoingdescriptions. Such modifications and variations are intended to fallwithin the scope of the appended claims.

The above detailed description describes various features and operationsof the disclosed systems, devices, and methods with reference to theaccompanying figures. In the figures, similar symbols typically identifysimilar components, unless context dictates otherwise. The exampleembodiments described herein and in the figures are not meant to belimiting. Other embodiments can be utilized, and other changes can bemade, without departing from the scope of the subject matter presentedherein. It will be readily understood that the aspects of the presentdisclosure, as generally described herein, and illustrated in thefigures, can be arranged, substituted, combined, separated, and designedin a wide variety of different configurations.

With respect to any or all of the message flow diagrams, scenarios, andflow charts in the figures and as discussed herein, each step, block,and/or communication can represent a processing of information and/or atransmission of information in accordance with example embodiments.Alternative embodiments are included within the scope of these exampleembodiments. In these alternative embodiments, for example, operationsdescribed as steps, blocks, transmissions, communications, requests,responses, and/or messages can be executed out of order from that shownor discussed, including substantially concurrently or in reverse order,depending on the functionality involved. Further, more or fewer blocksand/or operations can be used with any of the message flow diagrams,scenarios, and flow charts discussed herein, and these message flowdiagrams, scenarios, and flow charts can be combined with one another,in part or in whole.

A step or block that represents a processing of information maycorrespond to circuitry that can be configured to perform the specificlogical functions of a herein-described method or technique.Alternatively or additionally, a block that represents a processing ofinformation may correspond to a module, a segment, or a portion ofprogram code (including related data). The program code may include oneor more instructions executable by a processor for implementing specificlogical operations or actions in the method or technique. The programcode and/or related data may be stored on any type of computer readablemedium such as a storage device including random access memory (RAM), adisk drive, a solid state drive, or another storage medium.

The computer readable medium may also include non-transitory computerreadable media such as computer readable media that store data for shortperiods of time like register memory, processor cache, and RAM. Thecomputer readable media may also include non-transitory computerreadable media that store program code and/or data for longer periods oftime. Thus, the computer readable media may include secondary orpersistent long term storage, like read only memory (ROM), optical ormagnetic disks, solid state drives, compact-disc read only memory(CD-ROM), for example. The computer readable media may also be any othervolatile or non-volatile storage systems. A computer readable medium maybe considered a computer readable storage medium, for example, or atangible storage device.

Moreover, a step or block that represents one or more informationtransmissions may correspond to information transmissions betweensoftware and/or hardware modules in the same physical device. However,other information transmissions may be between software modules and/orhardware modules in different physical devices.

The particular arrangements shown in the figures should not be viewed aslimiting. It should be understood that other embodiments can includemore or less of each element shown in a given figure. Further, some ofthe illustrated elements can be combined or omitted. Yet further, anexample embodiment can include elements that are not illustrated in thefigures.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purpose ofillustration and are not intended to be limiting, with the true scopebeing indicated by the following claims.

What is claimed is:
 1. A system comprising: an image sensor comprising aplurality of pixels that form a plurality of regions of interest (ROIs);a plurality of image processing resources; and a scheduler configured toperform operations comprising: determining a priority level for aparticular ROI of the plurality of ROIs based on a feature detected byone or more image processing resources of the plurality of imageprocessing resources within initial image data associated with theparticular ROI; selecting, based on the feature detected within theinitial image data, a particular image processing resource of theplurality of image processing resources by which subsequent image datagenerated by the particular ROI is to be processed, wherein theparticular image processing resource is selected further based on theparticular image processing resource being spatially co-located with theparticular ROI; and inserting, based on the priority level of theparticular ROI, the subsequent image data into a processing queue of theparticular image processing resource to schedule the subsequent imagedata for processing by the particular image processing resource.
 2. Thesystem of claim 1, wherein the image sensor comprises a first layer ofan integrated circuit, wherein the plurality of image processingresources comprise one or more additional layers of the integratedcircuit, wherein image data generated by the particular ROI isconfigured to be processed by a first subset of image processingresources of the plurality of image processing resources, wherein thefirst subset of image processing resources is spatially co-located withthe particular ROI on the integrated circuit, and wherein selecting theparticular image processing resource comprises: selecting the particularimage processing resource from the first subset of image processingresources.
 3. The system of claim 1, wherein selecting the particularimage processing resource comprises: selecting (i) a first imageprocessing resource of the plurality of image processing resources bywhich the subsequent image data generated by the particular ROI is to beprocessed to generate an intermediate result and (ii) a second imageprocessing resource of the plurality of image processing resources bywhich the intermediate result is to be processed.
 4. The system of claim3, wherein inserting the subsequent image data into the processing queueof the particular image processing resource comprises: inserting thesubsequent image data into a first processing queue of the first imageprocessing resource; and based on a position of the subsequent imagedata in the first processing queue, inserting the intermediate resultinto a second processing queue of the second image processing resourcesuch that the intermediate result is scheduled for processing by thesecond image processing resource after the intermediate result isgenerated by the first image processing resource.
 5. The system of claim1, wherein determining the priority level for the particular ROIcomprises: receiving, from the one or more image processing resources,an indication that the feature was detected within the initial imagedata; and determining the particular ROI based on a subset of theplurality of pixels from which the one or more image processingresources obtained the initial image data.
 6. The system of claim 1,wherein determining the priority level for the particular ROI comprises:selecting the priority level from a plurality of priority levels basedon the feature detected by the one or more image processing resources,wherein each respective priority level of the plurality of prioritylevels is associated with at least one corresponding image data feature.7. The system of claim 1, wherein the particular image processingresource is selected further based on environmental conditions expectedto be present at a time when the subsequent image data is generated. 8.The system of claim 1, wherein inserting the subsequent image data intothe processing queue of the particular image processing resourcecomprises: determining an expiration time by which the subsequent imagedata is to be processed by the particular image processing resource; andassociating the expiration time with the subsequent image data in theprocessing queue, wherein the particular image processing resource isconfigured to omit processing the subsequent image data after theexpiration time.
 9. The system of claim 1, wherein the initial imagedata is generated by the particular ROI, and wherein determining thepriority level for the particular ROI comprises: determining that thefeature detected by the one or more image processing resources withinthe initial image data generated by the particular ROI is expected toremain within the particular ROI at a time when the subsequent imagedata is planned to be captured.
 10. The system of claim 1, wherein theinitial image data is generated by a second ROI different from theparticular ROI, and wherein determining the priority level for theparticular ROI comprises: determining that the feature detected by theone or more image processing resources within the initial image datagenerated by the second ROI is expected to move from the second ROI tothe particular ROI and be viewable by the particular ROI at a time whenthe subsequent image data is planned to be captured.
 11. The system ofclaim 1, further comprising: a vehicle configured to operate based onoutput of the plurality of image processing resources, wherein thepriority level for the particular ROI is determined further based on (i)a task being carried out by the vehicle and (ii) a relationship betweenthe task and the feature detected by the one or more image processingresources.
 12. The system of claim 1, wherein the particular imageprocessing resource is selected further based on an amount of image datain the processing queue of the particular image processing resource. 13.The system of claim 1, wherein the particular image processing resourceis selected further based on an at least one of: (i) a first objectivefunction that minimizes a latency between obtaining a given image databy the image sensor and processing the given image data by the pluralityof image processing resources, (ii) a second objective function thatmaximizes a utilization of the plurality of image processing resources,or (iii) a third objective function that maximizes a throughput of imagedata through the plurality of image processing resources.
 14. The systemof claim 1, wherein the plurality of image processing resourcescomprises one or more of: (i) pixel-level processing circuitry, (ii)neural network circuitry, (iii) a control system of an autonomousvehicle, or (iv) communicative connections between subsets of theplurality of image processing resources.
 15. The system of claim 1,wherein the operations further comprise: determining to deactivate anadditional ROI of the plurality of ROIs based on an additional featuredetected by one or more additional image processing resources of theplurality of image processing resources within additional image dataassociated with the additional ROI; selecting, based on the additionalROI, one or more further image processing resources of the plurality ofimage processing resources to be deactivated; and deactivating the oneor more further image processing resources.
 16. A method comprising:determining, by a scheduler, a priority level for a particular region ofinterest (ROI) of a plurality of ROIs formed by a plurality of pixels ofan image sensor, wherein the priority level is determined based on afeature detected by one or more image processing resources of aplurality of image processing resources within initial image dataassociated with the particular ROI; selecting, by the scheduler andbased on the feature detected within the initial image data, aparticular image processing resource of the plurality of imageprocessing resources by which subsequent image data generated by theparticular ROI is to be processed, wherein the particular imageprocessing resource is selected further based on the particular imageprocessing resource being spatially co-located with the particular ROI;and inserting, by the scheduler and based on the priority level of theparticular ROI, the subsequent image data into a processing queue of theparticular image processing resource to schedule the subsequent imagedata for processing by the particular image processing resource.
 17. Themethod of claim 16, wherein the image sensor comprises a first layer ofan integrated circuit, wherein the plurality of image processingresources comprise one or more additional layers of the integratedcircuit, wherein image data generated by the particular ROI isconfigured to be processed by a first subset of image processingresources of the plurality of image processing resources, wherein thefirst subset of image processing resources is spatially co-located withthe particular ROI on the integrated circuit, and wherein selecting theparticular image processing resource comprises: selecting the particularimage processing resource from the first subset of image processingresources.
 18. The method of claim 16, wherein selecting the particularimage processing resource comprises: selecting (i) a first imageprocessing resource of the plurality of image processing resources bywhich the subsequent image data generated by the particular ROI is to beprocessed to generate an intermediate result and (ii) a second imageprocessing resource of the plurality of image processing resources bywhich the intermediate result is to be processed.
 19. The method ofclaim 18, wherein inserting the subsequent image data into theprocessing queue of the particular image processing resource comprises:inserting the subsequent image data into a first processing queue of thefirst image processing resource; and based on a position of thesubsequent image data in the first processing queue, inserting theintermediate result into a second processing queue of the second imageprocessing resource such that the intermediate result is scheduled forprocessing by the second image processing resource after theintermediate result is generated by the first image processing resource.20. A non-transitory computer readable storage medium having storedthereon instructions that, when executed by a computing device, causethe computing device to perform operations comprising: determining apriority level for a particular region of interest (ROI) of a pluralityof ROIs formed by a plurality of pixels of an image sensor, wherein thepriority level is determined based on a feature detected by one or moreimage processing resources of a plurality of image processing resourceswithin initial image data associated with the particular ROI; selecting,based on the feature detected within the initial image data, aparticular image processing resource of the plurality of imageprocessing resources by which subsequent image data generated by theparticular ROI is to be processed, wherein the particular imageprocessing resource is selected further based on the particular imageprocessing resource being spatially co-located with the particular ROI;and inserting, based on the priority level of the particular ROI, thesubsequent image data into a processing queue of the particular imageprocessing resource to schedule the subsequent image data for processingby the particular image processing resource.